/*  
 *  Copyright RobOtter (2008) 
 * 
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

/** \file robot_config.h
  * \author JD
  *
  */


#ifndef _HPOSITION_MANAGER_H_
#define _HPOSITION_MANAGER_H_

// Matrice de passage du repere des capteurs dans celui du robot
double Mpi[6][3] = {
{- 7.4020852981500E-04,    1.7293163720333E-03,    9.0680711024240E-04},
{  - 2.1252339255771E-03,  - 1.0090928174357E-03,  - 1.6644400455963E-04},  
{    1.9316419876830E-03,  - 1.0023357037068E-04,    1.0040793377342E-03},  
{  - 4.6924318574484E-06,    1.8413022724978E-03,  - 3.0867310402159E-05},  
{  - 8.6079909662351E-04,  - 1.7172786604822E-03,    9.3762901350578E-04},  
{    2.0692936728863E-03,  - 1.0876289988702E-03,    2.0983417069351E-04}
};


#endif/*_HPOSITION_MANAGER_H_*/

